相关论文: SGL: Structure Guidance Learning for Camera Locali…

Place recognition is a key module in robotic navigation. The existing line of studies mostly focuses on visual place recognition to recognize previously visited places solely based on their appearance. In this paper, we address structural…

Graph Convolutional Neural Networks (GCNNs) are generalizations of CNNs to graph-structured data, in which convolution is guided by the graph topology. In many cases where graphs are unavailable, existing methods manually construct graphs…

In this paper, we propose a novel approach that learns to sequentially attend to different Convolutional Neural Networks (CNN) layers (i.e., ``what'' feature abstraction to attend to) and different spatial locations of the selected feature…

The ability to predict future states of the environment is a central pillar of intelligence. At its core, effective prediction requires an internal model of the world and an understanding of the rules by which the world changes. Here, we…

Learning node embeddings that capture a node's position within the broader graph structure is crucial for many prediction tasks on graphs. However, existing Graph Neural Network (GNN) architectures have limited power in capturing the…

While 2D object detection has improved significantly over the past, real world applications of computer vision often require an understanding of the 3D layout of a scene. Many recent approaches to 3D detection use LiDAR point clouds for…

We propose methods to train convolutional neural networks (CNNs) with both binarized weights and activations, leading to quantized models that are specifically friendly to mobile devices with limited power capacity and computation…

Predicting future 3D LiDAR pointclouds is a challenging task that is useful in many applications in autonomous driving such as trajectory prediction, pose forecasting and decision making. In this work, we propose a new LiDAR prediction…

Visual localization is considered to be one of the crucial parts in many robotic and vision systems. While state-of-the art methods that relies on feature matching have proven to be accurate for visual localization, its requirements for…

Zero-Shot Learning (ZSL) is achieved via aligning the semantic relationships between the global image feature vector and the corresponding class semantic descriptions. However, using the global features to represent fine-grained images may…

Self-supervised learning has been widely used to obtain transferrable representations from unlabeled images. Especially, recent contrastive learning methods have shown impressive performances on downstream image classification tasks. While…

Graph Neural Networks (GNNs) have become a prominent approach for learning from graph-structured data. However, their effectiveness can be significantly compromised when the graph structure is suboptimal. To address this issue, Graph…

Distributed Deep Learning (DDL) is essential for large-scale Deep Learning (DL) training. Synchronous Stochastic Gradient Descent (SSGD) 1 is the de facto DDL optimization method. Using a sufficiently large batch size is critical to…

In this work we study indoor scene object placement. Given a 3D indoor scene and an object, the task is to predict placement locations within the scene. Empirical observations of data-driven approaches to the problem show their tendency to…

Currently, self-driving cars rely greatly on the Global Positioning System (GPS) infrastructure, albeit there is an increasing demand for alternative methods for GPS-denied environments. One of them is known as place recognition, which…

Due to object detection's close relationship with video analysis and image understanding, it has attracted much research attention in recent years. Traditional object detection methods are built on handcrafted features and shallow trainable…

Self-localization on a 3D map by using an inexpensive monocular camera is required to realize autonomous driving. Self-localization based on a camera often uses a convolutional neural network (CNN) that can extract local features that are…

Standard deep learning models for image segmentation cannot guarantee topology accuracy, failing to preserve the correct number of connected components or structures. This, in turn, affects the quality of the segmentations and compromises…

$ $Visual place recognition is challenging, especially when only a few place exemplars are given. To mitigate the challenge, we consider place recognition method using omnidirectional cameras and propose a novel Omnidirectional…

Scene recognition is an image recognition problem aimed at predicting the category of the place at which the image is taken. In this paper, a new scene recognition method using the convolutional neural network (CNN) is proposed. The…